基于Android平台的农田作业机械自动导航装置

Autonomous Navigation Device of Farmland Operating Machinery Based on Android Platform

为了实现农田作业机械无人化自动作业,进一步减轻劳动力投入,基于Android平台设计了一种农田作业机械自动导航装置,该装置由机载控制模块、Android控制终端和差分全球定位系统(DGPS)基准站3部分构成。装置内嵌一种新型路径追踪算法。该算法通过邻域画圆寻找与规划路径交点,确定农田作业机械的趋近方向,可以极大地提高农田作业机械耕作控制精度。经大田试验验证,该装置具有精度高、成本低以及稳定性良好等优点。

In order to realize unmanned automatic operation of farmland operating machinery and reduce labor investment,an automatic navigation device for farmland operating machinery based on Android platform was designed. The device was composed of machinery control module,Android control terminal and Difference Global Positioning System（ DGPS） static station. A new path tracking algorithm was embedded in the device. The algorithm drawn a circle in the neighborhood and found intersection of the circle with planning path and determined direction of motion. The algorithm could greatly improve control accuracy of farmland operating machinery. By the field test,it was found that the device had advantages of high precision,low cost and good stability.